7.9.4 Output Ports for the Position Data from the Absolute Encoder
You can read the position data of the absolute encoder from the PAO, PBO, and PCO
(Encoder Divided Pulse Output) signals.
The output method and timing for the position data of the absolute encoder are different
in each case.
A conceptual diagram of the connections of the PAO, PBO, and PCO (Encoder Divided
Pulse Output) signals to the host controller is provided below.
Serial
data
ENC
CN1
Host controller
SERVOPACK
PAO
PBO
PCO
CN2
Conversion of
serial data to
pulses
Dividing
circuit
(Pn212)
Fig. 167: Encoder Divided Pulse Output Signals to the Host Controller
Signal Status Signal Contents
When Using an Absolute Encoder
PAO First signal Multiturn data position within one rotation
(pulse train)
During normal operation Incremental pulses
PBO First signal Position within one rotation (pulse train)
During normal operation Incremental pulses
PCO Always Origin pulse
The PAO (Encoder Divided Pulse Output) signal outputs the position data from the abso-
lute encoder after the control power supply is turned ON.
The position data of the absolute encoder is the current stop position. The absolute
encoder outputs the multiturn data with the specified protocol. The absolute encoder out-
puts the position within one rotation as a pulse train. It then outputs pulses as an incre-
mental encoder (incremental operation status).
The host controller must have a reception circuit (e.g., UART) for the position data from
the absolute encoder. The pulse counter at the host controller will not count pulses when
the multiturn data (communications message) is input because only phase A is input.
Counting starts from the position of the absolute encoder within one rotation.
The output circuits for the PAO, PBO, and PCO signals use line drivers. Refer to the fol-
lowing section for details on line drivers.
Ä
Chap. 5.6.4 ‘I/O Circuits’ page 122
7.9.5 Reading the Position Data from the Absolute Encoder
The sequence to read the position data from the absolute encoder of a Rotary Servo-
motor is given below.
The multiturn data is sent according to the transmission specifications.
The position of the absolute encoder within one rotation is output as a pulse train.
Sigma-7 Series SERVOPACKs
Application Functions
Absolute Encoders > Reading the Position Data from the Absolute Encoder
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 230
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